feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)

* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0

examples2d/stress_tests/convex_polygons2.rs

@@ -0,0 +1,78 @@
+use rand::distr::{Distribution, StandardUniform};
+use rand::{SeedableRng, rngs::StdRng};
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 30.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(-ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Create the convex polygons
+     */
+    let num = 26;
+    let scale = 2.0;
+    let border_rad = 0.0;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = StandardUniform;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift * 2.0 + centery + 2.0;
+
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+
+            let mut points = Vec::new();
+
+            for _ in 0..10 {
+                let pt: [f32; 2] = distribution.sample(&mut rng);
+                points.push(Vec2::from(pt) * scale);
+            }
+
+            let collider = ColliderBuilder::convex_hull(&points).unwrap();
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
+}